A scorer for the ARIAC game. More...

#include <AriacScorer.h>

Public Member Functions
	AriacScorer ()
	Constructor.
void	AssignGoal (const ariac::Goal &goal)
	Assign a goal to process.
ariac::GoalScore	GetCurrentGoalScore ()
	Get the score of the current goal.
ariac::GameScore	GetGameScore ()
	Get the current score.
bool	GetTrayById (const ariac::TrayID_t &trayID, ariac::KitTray &kitTray)
	Get the kit tray with the specified ID.
bool	IsCurrentGoalComplete ()
	Get the score of the current goal.
void	OnGoalReceived (const osrf_gear::Goal::ConstPtr &goalMsg)
	Callback for receiving goal message.
void	OnGripperStateReceived (const osrf_gear::VacuumGripperState &stateMsg)
	Callback for receiving gripper state message.
void	OnTrayInfoReceived (const osrf_gear::KitTray::ConstPtr &trayMsg)
	Callback for receiving tray state message.
ariac::TrayScore	SubmitTray (const ariac::KitTray &tray)
	Submit tray for scoring and store the result in the goal score.
ariac::GoalScore	UnassignCurrentGoal (double timeTaken=0.0)
	Stop processing the current goal.
void	Update (double timeStep=0.0)
	Update the scorer.
virtual	~AriacScorer ()
	Destructor.
Static Public Member Functions
static void	FillKitFromMsg (const osrf_gear::Kit &kitMsg, ariac::Kit &kit)
	Helper function for filling a Kit from a kit ROS message.
Protected Member Functions
void	ScoreCurrentState ()
	Calculate the score for the trays given the objects in them.
ariac::TrayScore	ScoreTray (const ariac::KitTray &tray)
	Calculate the score for a tray given the type of kit being built.
Protected Attributes
ariac::Goal	currentGoal
	Current goal being monitored.
ariac::GameScore	gameScore
	The score of the run.
ariac::GoalScore *	goalScore
	Pointer to the score of the current goal.
bool	isPartTravelling = false
	Whether or not there is a travelling part in the gripper.
std::map< ariac::TrayID_t, ariac::KitTray >	kitTrays
	The trays to monitor the score of.
boost::mutex	kitTraysMutex
	Mutex for protecting the kit trays being monitored.
ariac::Goal	newGoal
	Goal receivd from goal messages.
bool	newGoalReceived
	Flag for signalling new goal to process.
bool	newTrayInfoReceived
	Flag for signalling new tray info to process.
ariac::ScoringParameters	scoringParameters
	Parameters to use for calculating scores.

Detailed Description

A scorer for the ARIAC game.

Definition at line 36 of file AriacScorer.h.

Constructor & Destructor Documentation

AriacScorer::AriacScorer ( )

Constructor.

Definition at line 27 of file AriacScorer.cpp.

AriacScorer::~AriacScorer ( ) [virtual]

Destructor.

Definition at line 32 of file AriacScorer.cpp.

Member Function Documentation

void AriacScorer::AssignGoal ( const ariac::Goal & goal )

Assign a goal to process.

Parameters:

[in] goal The goal.

Definition at line 293 of file AriacScorer.cpp.

void AriacScorer::FillKitFromMsg	(	const osrf_gear::Kit &	kitMsg,
		ariac::Kit &	kit
	)		`[static]`

Helper function for filling a Kit from a kit ROS message.

Definition at line 317 of file AriacScorer.cpp.

ariac::GoalScore AriacScorer::GetCurrentGoalScore ( )

Get the score of the current goal.

Returns:: The score for the goal.

Definition at line 43 of file AriacScorer.cpp.

ariac::GameScore AriacScorer::GetGameScore ( )

Get the current score.

Parameters:

[in] The time in seconds since the last update.

Returns:: The score for the game.

Definition at line 37 of file AriacScorer.cpp.

bool AriacScorer::GetTrayById	(	const ariac::TrayID_t &	trayID,
		ariac::KitTray &	kitTray
	)

Get the kit tray with the specified ID.

Parameters:

[in]	trayID	The ID of the tray to get.
[in]	kitTray	The kitTray found.

Returns:: True if the tray was found, false otherwise.

Definition at line 114 of file AriacScorer.cpp.

bool AriacScorer::IsCurrentGoalComplete ( )

Get the score of the current goal.

Returns:: True if the goal is complete.

Definition at line 79 of file AriacScorer.cpp.

void AriacScorer::OnGoalReceived ( const osrf_gear::Goal::ConstPtr & goalMsg )

Callback for receiving goal message.

Definition at line 275 of file AriacScorer.cpp.

void AriacScorer::OnGripperStateReceived ( const osrf_gear::VacuumGripperState & stateMsg )

Callback for receiving gripper state message.

Definition at line 334 of file AriacScorer.cpp.

void AriacScorer::OnTrayInfoReceived ( const osrf_gear::KitTray::ConstPtr & trayMsg )

Callback for receiving tray state message.

Definition at line 251 of file AriacScorer.cpp.

void AriacScorer::ScoreCurrentState ( ) [protected]

Calculate the score for the trays given the objects in them.

Definition at line 85 of file AriacScorer.cpp.

ariac::TrayScore AriacScorer::ScoreTray ( const ariac::KitTray & tray ) [protected]

Calculate the score for a tray given the type of kit being built.

Definition at line 136 of file AriacScorer.cpp.

ariac::TrayScore AriacScorer::SubmitTray ( const ariac::KitTray & tray )

Submit tray for scoring and store the result in the goal score.

Definition at line 127 of file AriacScorer.cpp.

ariac::GoalScore AriacScorer::UnassignCurrentGoal ( double timeTaken = 0.0 )

Stop processing the current goal.

Parameters:

[in] timeTaken The time spent on the goal.

Returns:: The score for the goal.

Definition at line 308 of file AriacScorer.cpp.

void AriacScorer::Update ( double timeStep = 0.0 )

Update the scorer.

Definition at line 49 of file AriacScorer.cpp.

Member Data Documentation

ariac::Goal AriacScorer::currentGoal [protected]

Current goal being monitored.

Definition at line 103 of file AriacScorer.h.

ariac::GameScore AriacScorer::gameScore [protected]

The score of the run.

Definition at line 124 of file AriacScorer.h.

ariac::GoalScore* AriacScorer::goalScore [protected]

Pointer to the score of the current goal.

Definition at line 121 of file AriacScorer.h.

bool AriacScorer::isPartTravelling = false [protected]

Whether or not there is a travelling part in the gripper.

Definition at line 112 of file AriacScorer.h.

std::map<ariac::TrayID_t, ariac::KitTray> AriacScorer::kitTrays [protected]

The trays to monitor the score of.

Definition at line 97 of file AriacScorer.h.

boost::mutex AriacScorer::kitTraysMutex [mutable, protected]

Mutex for protecting the kit trays being monitored.

Definition at line 100 of file AriacScorer.h.

ariac::Goal AriacScorer::newGoal [protected]

Goal receivd from goal messages.

Definition at line 115 of file AriacScorer.h.

bool AriacScorer::newGoalReceived [protected]

Flag for signalling new goal to process.

Definition at line 109 of file AriacScorer.h.

bool AriacScorer::newTrayInfoReceived [protected]

Flag for signalling new tray info to process.

Definition at line 106 of file AriacScorer.h.

ariac::ScoringParameters AriacScorer::scoringParameters [protected]

Parameters to use for calculating scores.

Definition at line 118 of file AriacScorer.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation